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We present a “trajectory method” (TM) based CCS calculator, named “Collidoscope,” which utilizes parallel processing and optimized trajectory sampling, and implements both He and N2 as collision gas options. Also included is a charge-placement algorithm for determining probable charge site ...
Forces are then transformed back from the end effector to the base so that the torque at each joint is obtained. In order to achieve real-time calculation, a high speed signal processor is used (in this case, a TI TMS320). The average execution time of the Newton-Euler software is 2.9...